#!/usr/bin/env python
#
# License: BSD
#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################

"""
A py_trees demo.

.. argparse::
   :module: py_trees.demos.blackboard_remappings
   :func: command_line_argument_parser
   :prog: py-trees-demo-blackboard-remappings

.. figure:: images/blackboard_remappings.png
   :align: center

   Console Screenshot
"""

##############################################################################
# Imports
##############################################################################

import argparse
import typing

import py_trees
import py_trees.console as console

##############################################################################
# Classes
##############################################################################


def description() -> str:
    """
    Print description and usage information about the program.

    Returns:
       the program description string
    """
    content = "Demonstrates usage of blackbord remappings.\n"
    content += "\n"
    content += "Demonstration is via an exemplar behaviour making use of remappings..\n"

    if py_trees.console.has_colours:
        banner_line = console.green + "*" * 79 + "\n" + console.reset
        s = banner_line
        s += console.bold_white + "Blackboard".center(79) + "\n" + console.reset
        s += banner_line
        s += "\n"
        s += content
        s += "\n"
        s += banner_line
    else:
        s = content
    return s


def epilog() -> typing.Optional[str]:
    """
    Print a noodly epilog for --help.

    Returns:
       the noodly message
    """
    if py_trees.console.has_colours:
        return (
            console.cyan
            + "And his noodly appendage reached forth to tickle the blessed...\n"
            + console.reset
        )
    else:
        return None


def command_line_argument_parser() -> argparse.ArgumentParser:
    """
    Process command line arguments.

    Returns:
        the argument parser
    """
    parser = argparse.ArgumentParser(
        description=description(),
        epilog=epilog(),
        formatter_class=argparse.RawDescriptionHelpFormatter,
    )
    return parser


class Remap(py_trees.behaviour.Behaviour):
    """Custom writer that submits a more complicated variable to the blackboard."""

    def __init__(self, name: str, remap_to: typing.Dict[str, str]):
        """
        Set up the blackboard and remap variables.

        Args:
            name: behaviour name
            remap_to: remappings (from variable name to variable name)
        """
        super().__init__(name=name)
        self.logger.debug("%s.__init__()" % (self.__class__.__name__))
        self.blackboard = self.attach_blackboard_client()
        self.blackboard.register_key(
            key="/foo/bar/wow",
            access=py_trees.common.Access.WRITE,
            remap_to=remap_to["/foo/bar/wow"],
        )

    def update(self) -> py_trees.common.Status:
        """Write a dictionary to the blackboard.

        This beaviour always returns :data:`~py_trees.common.Status.SUCCESS`.
        """
        self.logger.debug("%s.update()" % (self.__class__.__name__))
        self.blackboard.foo.bar.wow = "colander"

        return py_trees.common.Status.SUCCESS


##############################################################################
# Main
##############################################################################


def main() -> None:
    """Entry point for the demo script."""
    _ = (
        command_line_argument_parser().parse_args()
    )  # configuration only, no arg processing
    print(description())
    py_trees.logging.level = py_trees.logging.Level.DEBUG
    py_trees.blackboard.Blackboard.enable_activity_stream(maximum_size=100)
    root = Remap(name="Remap", remap_to={"/foo/bar/wow": "/parameters/wow"})

    ####################
    # Execute
    ####################
    root.tick_once()
    print(root.blackboard)
    print(py_trees.display.unicode_blackboard())
    print(py_trees.display.unicode_blackboard_activity_stream())
